多无人机编队飞行时，个体之间需要进行信息交互.由于通信带宽和传送数据量等限制，个体之间交互的信息可能发生传输时延.为此，研究发生信息传输时延情况下多无人机的编队控制器设计问题.以服从Bernoulli分布的随机变量描述信息传输时延，建立Lyapunov-Krasovskii泛函，结合随机分析和Lyapunov稳定性理论推导出与无人机编队控制时延相关的稳定性条件.最后，利用数值仿真来验证所提出的多无人机编队控制方案的有效性.
During the flight of formatted multi-unmanned aerial vehicles, interactive communication among the individual is necessary over a communication network. In the communication, transmission time-delays may occur due to the network limits on communication bandwidth, the amount of traffic data and others. In this paper, the design problem of multi-UAVs formation control is studied based on the consideration of transmission timedelay. With a Bernoulli random variable describing the randomness of time delays, the Lyapunov-Krasovskii formula is constructed to derive the formation criterion. The multiUAV formation controller is designed on the basis of combining Lyapunov stability theory with stochastic analysis. Finally, a numerical simulation is carried out to verify the effectiveness of the proposed formation controller.
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